Abstract
Cardiovascular diseases (CVDs) are the deadliest diseases worldwide. Master-slave robotic systems have been widely used in vascular interventional surgery with the benefit of high safety, efficient operation, and procedural facilitation. This paper introduces a remote-controlled vascular interventional robot (RVIR) that aims to enable surgeons to perform complex vascular interventions reliably and accurately under a magnetic resonance imaging (MRI) environment. The slave robot includes a guidewire manipulator (GM) and catheter manipulator (CM) that are mainly composed of a hollow driving mechanism and a linear motion platform. The hollow driving mechanism is based on a traveling wave-type hollow ultrasonic motor (HUM) which has high positional precision, fast response, and magnetic interference resistance and realizes the cooperation of the guidewire and catheter by omitting the redundant transmission mechanism and maintaining good coaxiality. The HUM stator, the core part of the RVIR, is optimized by an adaptive genetic algorithm for better quality and greater amplitude of traveling waves, which are beneficial to the drive efficiency and precision. The robot system features great cooperating performance, small hysteresis, and high kinematic accuracy and has been experimentally verified for its capability to precisely manipulate the guidewire and catheter.
Highlights
Cardiovascular diseases (CVDs) that lead to heart attacks and strokes have been increasing in recent years.According to a survey of the World Health Organization, more than 17 million people are killed by CVDs every year [1,2]
This paper proposes a novel remote-controlled vascular interventional robot (RVIR) based on a hollow ultrasonic motor (HUM) and linear ultrasonic motor (LUM) which are not subject to electromagnetic interference and have the characteristic of rapid responsibility and high positional accuracy
The experimental results show that the slave robot has good driving precision, the rotating motion accuracy, especially, of the guidewire manipulator (GM) and catheter manipulator (CM) was very high and is far higher than the cable-driven mechanism [27], fully demonstrating the great advantage of applying the HUM to the structure design of RVIR in this study
Summary
Citation: Lu, Q.; Sun, Z.; Zhang, J.; Abstract: Cardiovascular diseases (CVDs) are the deadliest diseases worldwide. Master-slave robotic systems have been widely used in vascular interventional surgery with the benefit of high safety, efficient operation, and procedural facilitation. This paper introduces a remote-controlled vascular interventional robot (RVIR) that aims to enable surgeons to perform complex vascular interventions reliably and accurately under a magnetic resonance imaging (MRI) environment. The slave robot includes a guidewire manipulator (GM) and catheter manipulator (CM) that are mainly composed of a hollow driving mechanism and a linear motion platform. The hollow driving mechanism is based on a traveling wave-type hollow ultrasonic motor (HUM) which has high positional precision, fast response, and magnetic interference resistance and realizes the cooperation of the guidewire and catheter by omitting the redundant transmission mechanism and maintaining good coaxiality. The HUM stator, the core part of the RVIR, is optimized by an adaptive genetic algorithm for better quality and greater amplitude of traveling waves, which are beneficial to the drive efficiency and precision. The robot system features great cooperating performance, small hysteresis, and high kinematic accuracy and has been experimentally verified for its capability to precisely manipulate the guidewire and catheter. Keywords: master-slave robotic system; vascular interventional surgery; hollow ultrasonic motor; magnetic resonance imaging on Hollow Ultrasonic Motor. Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. Licensee MDPI, Basel, Switzerland.
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